Method and apparatus for propulsion

ABSTRACT

A method and apparatus is disclosed for providing a propulsive force to a dynamic body without having to interact with an external mass. The technique is based on an internal exchange of kinetic energy working in concert with the influence of an ancillary force such as gravity to produce a net momentum change in the body. In one embodiment a body may be rotated through space without having to expel propellant or otherwise resort to an interaction with an external mass. In another embodiment, the invention can be used to dampen a swaying motion or vibration of a body such as a tall, earth-bound tower or a beam in a space station when there is no convenient external mass to which the body may be anchored.

RELATED APPLICATIONS

This application claims priority under 35 U.S.C. 119(e) based on U.S.Provisional Patent Application Serial No. 60/036,365, filed Jan. 24,1997, the disclosure of which is hereby incorporated by reference in itsentirety.

FIELD OF THE INVENTION

This invention relates to kinetic propulsion and energy conversion.

BACKGROUND OF THE INVENTION

Physics of Force

This invention is based on a branch of physics known as classicalmechanics. Classical mechanics deals with the natural laws of motion,and is often associated with the ground-breaking work of Sir IsaacNewton. Newton, working in the late 17th and early 18th Centuries,realized that for every force exerted on a body, there is an equal butopposite reactive force. Imagine someone who pushes a shopping cartwhile standing on roller skates. Experience tells us that the cart willmove forward and the person pushing the cart will tend to roll backwardin the opposite direction. This is an everyday example of the principlethat every action has an equal and opposite reaction.

This principle is the basis for all manner of propulsion, includingwalking, jet travel and rocketry. For example, a rocket propels itselfthrough space by expelling matter in the form of burning propellant. Theexpulsion of matter through the tail of the rocket creates an equal butopposite force (or "thrust") that propels the rocket forward in thedesired direction. A more common illustration is the toy balloon that isinflated and released. The balloon will careen about the room as the airinside is expelled through the nipple. The air acts as a propellant,just like the fuel in a rocket.

The principle is equally applicable to terrestrial vehicles. In amotorboat, the turning propeller forces water toward the boat's stern,propelling the boat forward. In a jet plane, the jet engine forces airand fuel toward the rear of the plane, creating thrust that moves theplane forward. In a car, the motive force is applied by the friction ofa spinning tire on the road surface.

For each mode of transportation, the force or thrust pushing the vehicleforward is the result of an action-reaction force interchange (e.g.,propeller against water). Key to this process is the existence of someexternal mass (such as water, air, road surface or discharging rocketfuel) against which the vehicle may impart a force. As Newton tells us,this force pushes the external mass in one direction, and the vehicle inthe opposite direction, thereby propelling the vehicle as desired.

The energy of a moving vehicle such as a car, jet or bicyclist is called"kinetic" energy. Vehicles use on-board engines (such as automobilemotors, jet engines, and even the human body) to convert the "potential"energy in fuel (such as gasoline or food) into kinetic energy.Specifically, the consumption of fuel is used to move the engine (oftenin a rotating direction). The movement of the engine is converted intomovement of the vehicle via a prop (in the case of a boat or plane) ordrive transmission (in the case of a land vehicle).

Terrestrial Propulsion Problems

On Earth, there is usually no shortage of external mass (such as water,air, or ground) against which a vehicle or other object may bepropelled. Nevertheless, there are situations where there is noconvenient external mass to provide propulsion. For example, the tip ofa very tall tower tends to vibrate and sway (or "oscillate") in anundesirable manner because there is nothing but air to anchor the tip ofthe tower. The tower tip is in effect a moving body (like a vehicle),whose motion we are interested in stopping. We would like to providepropulsive force in the opposite direction of the tower's movement tostabilize the tower. Conceivably, one could place propellers on oppositesides of the tower, and use the thrust generated by the propeller tostabilize the swaying tower. However, this solution would be expensive,energy-consumptive, and otherwise wholly impractical.

Towers are usually stabilized by using guy wires to anchor the tower tipto the ground. This solution often limits the height of the tower, and,in the case of large towers such as office buildings is not practical oraesthetically acceptable. When guy lines cannot be used, the tower mustbe built with sufficient strength and rigidity to avoid swaying undernormal loads (such as high winds). Unfortunately, earthquakes and otherevents may impose extraordinary loads on the tower, causing dangerousoscillation and eventually structural failure. Ideally, there would be apractical way of dampening oscillation by applying a motive force to thetower tip in the opposite direction of oscillation.

Extraterrestrial Propulsion Problems

Vehicles in space exhibit three broad classes of motion: oscillatory,rotational and linear. Oscillatory motion is a back and forth orvibratory motion such experienced by large flexible spacecraftundergoing attitudinal correction. Rotational motion is the spinningmovement of a body, such as a space station or satellite rotating aboutits central axis. Linear motion is the straight-line movement of anobject traversing between two points in space, such as a rocketaccelerating away from the Earth and toward the moon.

Unlike our environment here on Earth, outer space is a vacuum--that is,a place devoid of any mass against which a body could propel itself. Forexample, an astronaut on a space walk would be unable to move relativeto his or her ship if the tether connecting the astronaut were severed.Even with arms flailing and legs kicking, the astronaut could not propelhim or herself back to the ship, or even so much as control thedirection which he or she was facing. It is impossible to "swim" throughspace as one does through water because there is no mass in spaceagainst which to propel oneself.

Because space is a vacuum, a vehicle that will move through space in acontrolled manner must bring along its own external mass in the form ofpropellant which is discharged to provide moving thrust. The difficultyis, propellant is quickly exhausted, leaving the vehicle adrift withoutany motive power. This makes space travel over long distances extremelydifficult.

For example, a rocket traveling to the moon must bring many tons ofpropellant to both accelerate away from earth and decelerate uponarriving at the moon. Without propellant, the rocket is like thehelpless, drifting astronaut discussed above. If there were a way forrockets to propel themselves through space without having to dischargepropellant, it would greatly reduce the cost and difficulty of spacetravel.

Likewise, a satellite orbiting the earth must use tiny retro rockets tochange the direction it faces or the manner in which it rotates. Whenthe satellite exhausts its supply of fuel, its orientation can no longerbe controlled. When this happens, the satellite is often permanentlyinoperable. Because millions of dollars are invested in building andlaunching the satellites, it would be very valuable if satellite lifecould be prolonged by developing a way to maneuver the satellite withoutexpelling physical propellant.

A similar situation will arise with proposed space stations. For manyyears, scientists have theorized that a large space station could bebuilt and placed into orbit around the Earth. To simulate earth'sgravity for the benefit of the station's occupants, the station would berotated about a central axis. The centrifugal force experienced bysomeone at the peripheral of the rotating station would feel likegravity. The difficulty is, the only known way to set a large body suchas a space station into spinning motion about its own axis is by placingretrorockets about the station's perimeter, and directing the rockets'thrust in a direction tangential to the desired arc of rotation.Depending on the weight of the station, this process would consume anexorbitant amount of propellant. Ideally there would be a way to spin aspace station without using propellant. Although the cost per pound ofpayload is expected to go down, it is currently at $5,000 to $10,000.Thus, any technique for reducing the amount of propellant required wouldprovide significant savings.

The sheer size of a space station raises other issues akin to theproblem of anchoring a tall tower on earth. The station would likely beconstructed using long, thin beams on the order of several hundred yardsin length. These beams will be prone to vibration (much like the swayingof a tall tower on earth), which could become severe enough to causestructural failure.

Ideally, there would be a way of dampening the movement of vibratingspace station beams. Unfortunately, just as the air on earth cannotpractically be used to dampen the movement of a swaying tower tip, spaceoffers nothing to "anchor" the vibrating beams. Theoretically, the beamscould be equipped with thousands of tiny retrorockets to exertpropulsive forces to counteract beam vibration. This solution would beextremely expensive and would necessitate the use of propellant. What isrequired is a way of imposing a propulsive force on the beams withoutrequiring the expulsion of propellant.

Existing Inertial Attitude Control Devices

It is in fact currently possible to control the rotation of satellitesto some extent without having to expel propellant. In accordance withthis technique, a flywheel on board the satellite is rotated oraccelerated to change or correct the rotational momentum of thesatellite. The difficulty with these existing techniques is that oncethe flywheel is rotated or accelerated, it cannot be returned to itsoriginal orientation or speed without offsetting the first change orcorrection. Thus, existing devices are of limited use.

SUMMARY OF THE INVENTION

The present invention is a technique for providing a propulsive force toa dynamic body without having to interact with an external mass. Thistechnique is based on an internal exchange of kinetic energy working inconcert with the influence of an ancillary force such as gravity toproduce a net momentum change in the body. Using the invention, a bodymay be rotated or propelled through space without having to expelpropellant or otherwise resort to an interaction with an external mass.The invention can also be used to dampen a swaying motion or vibrationof a body (such as a tall earth-bound tower or a beam in a spacestation) when there is no convenient external mass to which the body maybe anchored.

In one embodiment, the invention provides propulsion in an oscillatingsystem such as a swaying tower, vibrating member of a space station, ora simple swinging pendulum.

In the case of the simple swinging pendulum, the system includes achamber suspended for oscillation by a tether. Inside the chamber is aball mass, two spaced-apart solenoids that can be fired on command, andan electric energy source for controlling the solenoids. The solenoidsare fixed on the left and right side of the chamber so that each canfire the ball mass toward the other, much like two people playing catch.

Initially, the pendulum system is stationary, with the ball mass restingon the left solenoid. To begin oscillation, the left solenoid launchesthe ball mass toward the right solenoid. As the ball mass is launchedfrom the left solenoid, a reactive exchange of forces occurs, pushingthe ball to the right and the solenoid to the left. Because the solenoidis fixed to the chamber, the result of this force is to swing the wholechamber to the left. The effect is much like a child "pumping" a swing.In physical terms, the movement of the system is caused by shifting thecenter of gravity.

The pendulum chamber moves leftward and upward until its motion isovercome by the downward force of gravity, which eventually pulls thechamber back rightward toward its initial starting position. As thechamber moves through this half-cycle of oscillation, the ball masstravels as a free body until it collides with the right solenoid.

This initial movement can be thought of as a "seed pulse." One can buildmomentum onto this seed pulse by further shuttling the ball mass betweenthe left and right solenoids in accordance with the invention.

For example, after the seed pulse, the ball mass will be resting in theright solenoid with the chamber swinging rightward towards its rightmostzenith. To build on the momentum of the seed pulse, the ball mass islaunched from the right solenoid just before the chamber reaches itsrightmost zenith. The launch of the ball from the right solenoid imposesan action-reaction force interchange that pushes the chamber above therightmost zenith that it otherwise would have attained.

The speed and trajectory of the ball launch are selected so that theball mass collides with the left solenoid after the rightmost zenith hasbeen crossed and while the chamber is swinging leftward towards itsleftmost zenith. Thus, the second collision with the left solenoidresults in a reactive exchange of force wherein the ball mass is broughtto rest and the left solenoid (and, as a direct consequence, the entirechamber) is pushed leftward.

Both the launch of the ball from the right solenoid and the collision ofthe ball with the left solenoid contribute constructively to themomentum of the system. The process can be repeated left-to-right andright-to-left to build the oscillation.

To decelerate the oscillation, a "soft-landing" slowdown sequence isused, whereby the ball mass is shuttled between the solenoids in amanner that dampens the momentum of the swinging pendulum. This slowdownsequence begins just after the chamber has passed its leftmost zenith,and is accelerating rightward. (Starting the slowdown sequence at theleft zenith is an arbitrary choice; the sequence could just as easilybegin at the right zenith). At that point, the ball mass is launchedfrom the left solenoid toward the right solenoid. As the ball mass islaunched from the left solenoid, a reactive exchange of forces occurs,imposing a rightward impulse on the ball mass and a leftward impulse onthe chamber. A vectored component of this leftward impulse is in theopposite direction as the chamber's rightward acceleration, andtherefore cancels some of the chamber's rightward velocity.

The chamber continues accelerating rightward (under the force ofgravity). As the chamber accelerates, the ball mass, now a free floatingbody, moves toward and eventually collides with the right solenoid. Bycarefully choosing the speed and trajectory of the ball mass' launch,the collision between the ball mass and the right solenoid occurs at apoint in time when the chamber's velocity has just matched that of theright solenoid. Because the velocities of the ball mass and chamber areexactly or substantially equal, their collision results in a virtuallyreactionless exchange. Consequently, no momentum is transferred to thechamber as a result of the ball's landing on the right solenoid.

The net effect of shuttling the ball mass between the solenoids is toimpart an impulse of force which decelerates the swinging pendulum. Whenthe chamber passes its rightmost zenith, the ball mass can be fired fromthe right solenoid toward the left solenoid in the same manner asdescribed above. The process can be repeated until the pendulum's motionhas been diminished to a desired level.

A "hard-landing" slowdown sequence may also be used to decelerateoscillation. The hard-landing slowdown sequence begins after the chamberhas reached its leftmost zenith, and is accelerating and movingrightward under the force of gravity. As the chamber passes the "atrest" position of the chamber system, it attains its maximum velocity.Shortly after this point, the ball mass is launched by the left solenoidtoward the right solenoid. As the ball mass is launched from the leftsolenoid, a reactive exchange of forces occurs, pushing the ball to theright and imposing a leftward impulse on the chamber. A vectoredcomponent of this leftward impulse is in the opposite direction as thechamber's rightward velocity and therefore cancels some of thatvelocity.

The chamber continues moving rightward but decelerating under the forceof gravity. Eventually the chamber reaches its rightmost zenith andbegins accelerating back leftward under the force of gravity. Duringthis period, the ball mass has been moving rightward as a free floatingbody toward the right actuator. The ball mass then collides hard withthe right solenoid, which is moving in the opposite direction as theball mass. This hard collision results in an action-reaction exchangewherein the momentum of the ball is transferred to the chamber, imposinga rightward impulse on the chamber that cancels a portion of thechamber's leftward velocity.

Unlike the soft-landing sequence, the hard-landing sequence can be usedto bring the chamber to a halt. Like the soft-landing sequence, thehard-landing sequence requires judicious timing so that the ball masscollides with the right (left) actuator after the rightmost (leftmost)zenith of a pendulum system has been obtained. This same hard-landingslowdown process can be used to stabilize the swaying tip of a talltower or a vibrating member of a space station, as explained below.

In another embodiment, the invention provides rotational propulsion to arotating system. This embodiment is useful, for example, in adjustingthe rotation of a satellite or in rotating a massive space station. Inaccordance with this embodiment a rotating system or "driver" isattached to the satellite, space station or other primary mass in spacewhich is to be rotated. The driver includes two rigid arms extendingradially from opposite sides of the driver. At the distal end of eacharm is a chamber much like the chamber described above in connectionwith the pendulum system. Each distal arm is capable of telescopic-likeextension and contraction.

The rotational propulsion begins by coupling the driver to the primarymass and rotating the drive relative to the primary mass using aconventional electromechanical source fixed to the primary mass. As themotor rotates the driver, it causes reactive interaction between thedriver and the primary mass, thus imposing a rotational impulse on theprimary mass in the opposite direction as the rotation of the driver.

Once the driver has reached a predetermined rotational velocity, it isdisengaged from the primary mass leaving both the driver and the primarymass free-wheeling in opposite directions. At this point, the driver maybe decelerated in accordance with the invention without expellingpropellant or imparting an impulse to the primary mass that offsets thefirst impulse. Once the driver has been decelerated, it can be recoupledto the primary mass and then reaccelerated using the electromagneticmotor to apply a second rotational impulse to the primary mass. As thisprocess is repeated, the impulses applied to the primary mass build,resulting in substantial rotational acceleration of the primary mass.

The deceleration of the driver is accomplished in accordance with theinvention as follows. During each half-revolution of the driver, theradially extending arms each execute a contraction and extension cycle,whereby the spinning chambers are drawn in toward the driver and thenmeted out away from the driver. Since the driver is in a free-wheelingrotation, its rotation is accelerated when the chambers are drawn in,and decelerated when the chambers are let out.

The chambers connected to the distal end of each arm are comparable inconstruction to the chamber used with the pendulum system describedabove, and accordingly include two solenoids and a ball mass shuttledbetween the solenoids. At the beginning of each half-revolution, theball mass in each chamber is launched from one actuator to the other sothat the ball mass is moving in generally the same direction as thechamber. These launchings impart a reactive force against each chamberin the opposite direction as its rotation, which has the effect ofdecelerating the driver.

Upon launching, each ball mass coasts through space as a free bodytoward the opposing solenoid. An instant after the ball mass islaunched, the radial arms each contract, drawing their respectivechambers closer to the driver, and increasing each chamber's tangentialvelocity as it rotates about the driver until the velocity of thechamber is equal or close to the velocity of the ball mass.

Through careful launch timing, each chamber reaches this velocity at thesame time that its respective ball mass collides with the opposingsolenoid. Because the velocity of the ball mass and the opposingsolenoid are identical (or at least close) at impact, the collision isreactionless (or nearly so), and does not significantly change theangular momentum of the driver. The effect of shuttling the ball massfrom one solenoid to another is a net momentum change that slows downthe driver. This process can be repeated every half-rotation of thedriver until its angular momentum has been substantially reduced.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is an front elevation of a pendulum system in its at-restposition in accordance with the invention.

FIG. 1A is an idealized perspective view of a solenoid incorporated inthe pendulum system of FIG. 1.

FIG. 2 is the view of the pendulum system of FIG. 1 at a first point intime (t₁).

FIG. 3 is the view of the pendulum system of FIG. 1 at a second point intime (t₂).

FIG. 4 is the view of the pendulum system of FIG. 1 at a third point intime (t₃).

FIG. 5 is an idealized time-lapsed view of the pendulum system of FIG.1, showing deceleration of the pendulum system in accordance with thesoft-landing technique of the invention at times t₄ -t₇.

FIG. 6A is a front elevation view of the pendulum system of FIG. 1 at afirst point in time (t₈) showing deceleration of the pendulum system inaccordance with the hard-landing technique of the invention.

FIG. 6B is a front elevation view of the pendulum system of FIG. 1 at asecond point in time (t₉) showing deceleration of the pendulum system inaccordance with the hard-landing technique of the invention.

FIG. 6C is a front elevation of the pendulum system of FIG. 1 at a thirdpoint in time (t₁₀) showing deceleration of the pendulum system inaccordance with the hard-landing technique of the invention.

FIG. 7 is a schematic diagram of a control circuit for controlling thependulum system of FIG. 1.

FIG. 8 is a front elevation of an oscillating column system inaccordance with the invention.

FIG. 9 is a right side elevation of the column system of FIG. 8.

FIG. 10 is a top plan view of the column system of FIG. 8.

FIG. 11 is a front elevation view of the column system of FIG. 8 in atensioned position.

FIG. 12 is an idealized view of the column system of FIG. 8 after itsball mass has been launched from its left solenoid.

FIG. 13 is an idealized view of the column system of FIG. 8 after itsball mass has been launched from its right solenoid.

FIG. 14A is an idealized view of the column system of FIG. 8 at a firstpoint in time (t₁), showing deceleration in accordance with thehard-landing technique of the invention.

FIG. 14B is an idealized view of the column system of FIG. 8 at a secondpoint in time (t₂), showing deceleration in accordance with thehard-landing technique of the invention.

FIG. 14C is an idealized view of the column system of FIG. 8 at a thirdpoint in time (t₃), showing deceleration in accordance with thehard-landing technique of the invention.

FIG. 15 is a schematic diagram of a control circuit for controlling thecolumn system of FIG. 8

FIG. 16 is an idealized front elevation view of a guyless tower that isstabilized in accordance with the invention.

FIG. 17 is an idealized front elevation of a very tall guyless towerstabilized in accordance with the invention.

FIG. 18 is an idealized perspective view of a space stationsuperstructure that is stabilized in accordance with the invention.

FIG. 19 is a front elevation view of a rotating system in accordancewith the invention.

FIG. 20 is an top plan view of the rotating system of FIG. 19.

FIG. 21 is an idealized diagram showing the path of rotation of thesystem of FIG. 19 at a first point in time.

FIG. 22 is an idealized diagram showing the path of rotation of thesystem of FIG. 19 at a second point in time.

FIG. 23 is an idealized diagram showing the path of rotation of thesystem of FIG. 19 at a third point in time.

FIG. 24 is a top plan view of the system of FIG. 19 shown in theposition depicted in the diagram of FIG. 21.

FIG. 25 is a top plan view of the system of FIG. 19 shown in theposition depicted in the diagram of FIG. 23.

FIG. 26 is a diagram showing the path of rotation at a first point intime of an alternative embodiment of the system of FIG. 19.

FIG. 27 is a diagram showing at a second point in time the path ofrotation of an alternative embodiment of the system of FIG. 19.

FIG. 28 is a schematic diagram of a control circuit for controlling therotating system of FIG. 19.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT

A. Theory of Transduction

Transduction is a technique for accelerating or decelerating a dynamicsystem through the action of an internal exchange of kinetic energy inconcert with an ancillary force. To illustrate this theory, a simpleoscillating system in the form of a pendulum is illustrated in FIGS. 1through 6.

With transduction, a dynamic system such as a pendulum undergoes achange of velocity due to the influence of an ancillary force (such asgravity or centripetal force) working in concert with a well timedkinetic energy exchange that is internal to the dynamic system. Themomentum of the system is changed without interaction with an externalmass. Rather, the ancillary force contributes to the net momentumexchange in a transduction system.

Pendulum System

Referring to FIG. 1, a pendulum system 50 in accordance with theinvention as illustrated in its "at rest" position. Pendulum system 50includes a rigid tether 52, the upper end of which is suspended from apivot 54. Pivot 54 may be attached to a building or other structure (notshown) as desired. The lower end of tether 52 is pivotedly connected toa box-like chamber 56. Chamber 56 remains level to the ground bysuitable means such as a four-bar linkage connecting chamber 56 totether 52. Ballast 58 is included to assist in leveling chamber 56.Alternatively, more complex leveling systems (such as a gyroscopicstabilizer) may be provided.

Chamber 56 is shown as a simple box-like structure, and may be fullyenclosed. For purposes of illustration, Chamber 56 is shown withoutsidewalls so that its interior 60 is visible. Interior 60 of chamber 56is defined by two lateral bulwarks 62 and 64 which define the left andright sides of interior 60, respectively. A left solenoid 66 is mountedto bulwark 62, and a right solenoid 68 is mounted to bulwark 64. Asexplained below, left and right solenoids 66 and 68 are used to shuttlea metallic ball mass 70 back and forth. A free-body ball mass isillustrated here to more clearly illustrate the mechanics of thetransduction process. More practical mass shuttling devices aredescribed below.

The construction of solenoids 66 and 68 is illustrated in more detail inFIG. 1A. For clarity, only solenoid 66 is shown, but the solenoids 66and 68 are substantially identical. Solenoid 66 includes a chassis 72and having a planar face 74 A retractable cylindrical finger 76 ismounted on face 74, may be extended and contracted in response to acontrol signal (not shown). Tray 78 extends horizontally from the bottomof retractable finger 76 and is sized and contoured to accommodate ballmass 70. Tray 78 and the front planar face 74 of chassis 72 are metallicand are magnetized to securely hold metallic ball mass 70. By forcefulactuation of solenoid finger 76, ball mass 70 resting on tray 78 can belaunched toward the opposing side of chamber 56. If desired,magnetization of tray 78 may be accomplished using an electromagnet sothat the magnetization may be deactivated at the moment when solenoidfinger 76 launches ball mass 70.

Startup Sequence

In the startup sequence, pendulum system 50 is accelerated in accordancewith the invention. Just prior to startup sequence at time t₀, pendulumsystem 50 is in the "at rest" position shown in FIG. 1. In thisposition, pendulum system 50 is motionless and chamber 56 hangs straightdown below pivot 54 via tether 52. Ball mass 70 resides in solenoid 66,which is magnetized as described above to securely hold ball mass 70.Finger 76 of solenoid 66 is retracted to accommodate ball mass 70. Thechoice of placing ball mass 70 in solenoid 66 is arbitrary; the startupprocess could also begin with ball mass 70 in solenoid 68.

The startup sequence begins by firing finger 76 to launch ball mass 70off tray 78 of solenoid 66 towards solenoid 68. (The force imparted ontoball mass 70 by finger 76 must also be sufficient to overcome the forceof magnetized tray 78). As ball mass 70 is launched from solenoid 66, areactive exchange of force occurs, pushing ball mass 70 to the right andsolenoid 66 (and the remainder of chamber 56) to the left. Ball mass 70travels as a free-body through interior 60 of chamber 62 and lands onsolenoid 68, as shown in FIG. 2.

At time t₁ (FIG. 2) chamber 56 has reached its leftmost zenith and isreturning under the influence of gravity to its "at-rest" position,which is shown in FIG. 2 by dotted lines. Note that ball mass 70 isresting on solenoid 68 by time t₁ and chamber 62 is moving in thedirection of arrow A.

The shuttling of ball mass 70 from left solenoid 66 to right solenoid 68causes the chamber 56 to be set into motion. This initial movement canbe thought of as a "seed pulse." Further acceleration requires controlof the timing and trajectory of ball mass 70, because depending whenball mass 76 is launched from each of solenoids 66 and 68, it can causeeither constructive or destructive interference in the motion ofpendulum system 50.

The optimum time to actuate solenoid 66 (thus launching ball mass 70toward solenoid 68) is when chamber 56 is at its leftmost zenith.Likewise the optimum time to actuate solenoid 68 (thus launching ballmass 70 back toward solenoid 66) is when the chamber is at its rightmostzenith. Firing solenoids 66 and 68 at these times contributesconstructively to the velocity of chamber 56.

This process is illustrated in FIG. 3 which shows pendulum system 50 attime t₂. Since time t₁ (illustrated in FIG. 2) pendulum system 50 hasswung rightward and is approaching its rightmost zenith position. Duringthe period between time t₁ and the point at which pendulum system 50reaches its rightmost zenith, ball mass 70 resides in actuator 68. Whenpendulum system 50 reaches its rightmost zenith, actuator 68 is fired tolaunch ball mass 70 leftward toward actuator 66 in the direction ofarrow B. Time t₂ as shown in FIG. 3 represents a point just after ballmass 70 has been launched from actuator 68. The launching is a reactiveexchange of force between ball mass 70 and actuator 68 which results inchamber 56 being accelerated rightward in the direction of arrow C.Thus, as shown in FIG. 3, the trajectory of chamber 56 is extendedbeyond the zenith (shown in dotted lines) that it would have acquired,but for the action-reaction interchange caused by launching ball mass 70from actuator 68 between times t₁ and t₂.

Ball mass 70 having been launched from solenoid 68 traverses theinterior 60 of chamber 56 as a free body until it collides with leftsolenoid 66 at time t₃, as shown in FIG. 4. At time t₃, chamber 56 ismoving leftward in the direction of arrow D, so that the collision ofball mass 70 and actuator 66 results in a net momentum transfer thatincreases the leftward velocity of chamber 56. In FIG. 4, the positionof chamber 56 at time t₂ is shown by dotted lines. Referring to FIGS. 3and 4, it be seen that both the launching and the landing of ball mass70 contributes constructively to the velocity of chamber 56. Thesequence described FIGS. 3 and 4 can be repeated indefinitely, firingball mass 70 from both solenoid 66 and solenoid 68 to increase thekinetic energy of pendulum system 50.

Soft-Landing Slowdown Sequence

The process of shuttling ball mass 70 between solenoids 66 and 68 canalso be used to decelerate the motion of pendulum system 50. There areat least two modes of deceleration--soft-landing and hard-landing,described in FIGS. 5 and 6A-6C respectively.

Referring to FIG. 5, the soft-landing sequence is illustrated in atime-lapsed diagram showing pendulum system 50 at times t₄, t₅, t₆, andt₇. Beginning at time t₄, pendulum system 50 is at its leftmost zenithwith ball mass 70 resting on solenoid 66. Under the influence ofgravity, pendulum system 50 is swinging from left to right in thedirection indicated by arrow E. Just as chamber 56 begins its rightwardand downward movement, solenoid 66 is actuated to launch ball mass 70toward solenoid 68.

At time t₅ (as shown in FIG. 5) ball mass 70 has been launched fromsolenoid 66 and is moving as a free-body towards solenoid 68. As aresult of launching ball mass 70 from solenoid 66, an action-reactionforce interchange has occurred which applies a force against chamber 56in the opposite direction of its rightward movement, thus canceling aportion of the velocity of chamber 56. Chamber 56 continues itsrightward swing, gaining velocity under the influence of gravity untiltime t₆, when chamber 56 reaches its lowermost position.

At time t₆ chamber 56 has attained its maximum velocity and is under nofurther acceleration by gravity. Ball mass 70 has traveled across theinterior 60 of chamber 56 as a free body subject only to the influenceof gravity and the horizontal velocity imparted to it when it waslaunched from solenoid 66 just after time t₄. At time t₆, ball mass 70collides with solenoid 68. However, since chamber 56 has acceleratedsince time t₅ (under the influence of gravity), the velocities of ballmass 70 and solenoid 68 are the same (or at least closely matched). As aresult, the collision of ball mass 70 and solenoid 68 results in no orlittle action-reaction force interchange. Hence, this decelerationtechnique is referred to as "soft-landing", because ball mass 70literally has a soft-landing on the solenoid 68. The overall effect oflaunching ball mass 70 from solenoid 66 (shortly after time t₄) and thecollision ball mass 70 on solenoid 68 at time t₆ is that some of thevelocity which chamber 56 would have otherwise had at time t₆ iscanceled.

At time t₇ chamber 56 reaches its leftmost zenith. The dotted line shownin FIG. 5 illustrates the zenith that chamber 56 would have had attainedbut the reduction of velocity caused by the launch and soft-landing ofball mass 70 between time t₄ and t₆. As can be seen, the oscillation ofchamber 56 has been dampened.

This same process can be repeated, with each half-cycle of pendulumsystem 50, resulting in a continuing decrease in the kinetic energy ofpendulum system 50. To effectuate the soft-landing deceleration, ballmass 70 should be fired as chamber 56 is accelerating (under theinfluence of gravity) toward its lowermost position. It is also helpfulthat the speed and trajectory of ball mass 70 be such that ball mass 70collides with the opposite solenoid 66 or 68 (as the case may be) justas chamber 56 reaches its lowermost position. This allows for velocitymatching between the ball mass 70 and the chamber 56, resulting in acollision that has no or at least minimal action-reaction forceinterchange. Techniques for optimizing launched time and velocity arediscussed below.

Hard-Landing Slow Down Sequence

Referring to FIGS. 6A-6C, the hard-landing sequence is illustrated bymeans of time-lapsed diagrams showing pendulum system 50 at times t₈, t₉and t₁₀. Like the soft-landing sequence, the hard-landing sequence is aprocedure for decelerating the pendulum system 50. Referring to FIG. 6A,the hard-landing sequence begins with chamber 56 at its leftmost zenith(shown in phantom lines), and ball mass 70 resting in solenoid 66. Underthe influence of gravity, chamber 56 begins to fall in the directionshown by arrow F, with its rightward and downward velocitiesaccelerating. At t₈ chamber 56 has crossed it lowermost "at rest"position, and has just begun the upswing side of its cycle, where it issubject to deceleration by gravity. At time t₈, ball mass 70 is thenlaunched from solenoid 66 toward solenoid 68, as shown in FIG. 6A. Thelaunching of ball mass 70 results in an action-reaction forceinterchange which imposes a force on chamber 56 that supplements thedecelerating effects of gravity and cancels some of the rightwardvelocity of chamber 56.

Referring to FIG. 6B, at time t₉ chamber 56 has reached its rightmostzenith (the previous position of chamber 56 at time t₈ is shown inphantom lines in FIG. 6B). This rightmost zenith is lower than thezenith that chamber 56 would have obtained but for the force interchangecaused by launching ball mass 70 from solenoid 66 at time t₈. At time t₉ball mass 70 is still a free body moving through interior 60 on atrajectory toward solenoid 68.

Referring to FIG. 6C, at time t₁₀, chamber 56 is returning leftward andin the direction of arrow G and is accelerating under the influence ofgravity towards its lowermost "at rest" position. At this time, ballmass 70 collides with solenoid 68. The position of chamber 56 ofprevious time t₉ is shown in phantom lines in FIG. 6C. Unlike the softlanding described above, the collision of FIG. 6C is a hard-landingbecause ball mass 70 and solenoid 68 are moving in opposite directionsat the point of impact, resulting in an action-reaction forceinterchange which brings ball mass 70 to rest on solenoid 68 and impartsa rightward force on chamber 56 that cancels some of the leftwardvelocity of chamber 56. The hard landing sequence is much more effectivethat the soft landing sequence in decelerating the pendulum becausethere are two (as opposed to one) force action-reaction interchangesthat cancel a portion of the pendulum's velocity (that is, launch andcollision). This hard landing sequence can be repeated at each halfcycle of pendulum system 50, resulting in quick deceleration of chamber56.

With the hard landing sequence, ball mass 70 should ideally be launchedafter chamber 56 has passed through its lowermost position and is movingupward against the influence of gravity. The launching of ball mass 70should be timed so that chamber 56 is able to reach its zenith and beginfalling back toward its lowermost position while ball mass 70 is still afree-body moving through interior 60. This timing relationship ensuresthat ball mass 70 will have a hard collision against solenoid 66 or 68,as the case may be.

Control Circuit

To operate pendulum system 50 in accordance with the invention, it ishelpful to provide a control signal to actuate left and right solenoids66 and 68 to launch ball mass 70 at the proper time. As explained above,during the start-up phase shown in FIGS. 1 through 4, the optimal timefor launching ball mass 70 is just as chamber 50 reaches its zenith.During the soft landing sequence shown in FIG. 5, the optimal time forlaunching ball mass 70 is as chamber 56 is accelerating down toward itslowermost position. During the hard landing sequence, the optimal timeto launch ball mass 70 is as chamber 56 is moving toward its zenith.

Thus, a control circuit for implementing the invention has a sensor todetect the position, direction and velocity of chamber system 50 and acircuit for selectively actuating either solenoid 66 or 68 in responseto the sensor. It will be apparent to those skilled in the art thatthere are multiple ways of accomplishing this objective. One suitablecontrol circuit is shown in FIGS. 7.

Referring to FIG. 7, a control circuit for the start-up sequence ofFIGS. 1 through 4 is illustrated. FIG. 7 is a hybrid drawingillustrating mechanical and electromechanical elements as well as analogand digital circuitry. The analog elements are shown in conventionalschematic symbols. The digital elements are shown in black diagramformat. The circuit consists of a motion detector 500, a pair oftransistors 502 and 504 coupled to motion detector 500 via lines 506 and508 respectively and a pair of relays 510 and 512 driven by transistors502 and 504 respectively.

Motion detector 500 senses when pendulum system 56 has reached its leftor right zenith. Motion detector 500 includes a pair of planar brushings514 and 516 and a cylindrical rod 518 mechanically coupled to pivot 54and rollalby sandwiched between planar brushings 514 and 516. Aspendulum system 56 swings left and right, pivot 54 rotates causingcylindrical rod 518 to also rotate. A wire coil 520 extends from rod518. North and south magnetic poles 522 and 524 are disposed of eitherside of coil 520. Thus, as pendulum system 56 swings and rotatescylinder 518, coil 520 is rotated in either a clockwise or counterclockwise direction between magnetic poles 522 and 524. In effect,motion detector 500 is an electric generator driven by the motion ofswinging pendulum system 56. A tiny current is generated through lines506 and 508 by this motion. The polarity of the current through lines506 and 508 depends on whether coil 520 is being rotated in a clockwiseor counter-clockwise direction. It will be observed that this polaritywill change abruptly when pendulum system 56 reaches its left or rightzenith and begins traveling in the opposite direction. It should berealized that motion detector 500 is shown here for teaching purposes.In practice, more robust commercially available motion sensors should beused.

Leads 506 and 508 are coupled to transistors 502 and 504 respectively.Depending on the polarity of the current through leads 506 and 508, oneof transistors 502 or 504 will be activated. Transistors 502 and 504 arecoupled to relays 510 and 512, respectively. Each of relays 510 and 512is coupled to a power supply 526. Relay 510 is also coupled to solenoid66 via a line 528 and relay 512 is coupled to solenoid 68 via a line530. Solenoid 66 is also coupled to power supply 526 by a second line532 and solenoid 68 is also coupled to power supply 526 by a second line534.

If transistor 502 is activated, current flows through relay 510actuating relay 510 and closing the circuit between power supply 526 andsolenoid 66 (via line 528). If transistor 504 is activated, then currentflows to relay 512, actuating relay 512 and closing the circuit betweenpower supply 526 and solenoid 68 (via line 530). When solenoids 66 and68 are energized by current from power supply 526, retractable finger 76overcomes its internal spring bias and is extended thereby launchingball mass 70.

Thus, when coil 520 is rotated in one direction, the induced currentthrough lines 506 and 508 flows in a given direction and when coil 520is rotated in the opposite direction, the induced current through lines506 and 508 flows in the opposite direction. A current in the firstdirection activates transistor 502 causing solenoid 66 to be actuatedand a current in the second direction activates transistor 504, causingsolenoid 68 to be actuated. The coil 520 should be orientated so that itinduces maximum voltage when pendulum system 56 crosses its "at rest"position for the purpose of ensuring that the control circuit receivesstrong and consistent signals. The system as described above must becalibrated so that solenoid 66 is actuated when pendulum system 56reaches its leftmost zenith and solenoid 68 is actuated when pendulumsystem reaches its rightmost zenith.

A microcontroller 536 (or other suitable control device) is used for thesoft- and hard-landing sequences of FIGS. 5 and 6. Microcontroller 536works in concert with a digital proximity sensor 538, relay 540 anddigitably-controllable potentiometer 542. As mentioned above, thesedigital elements are depicted in FIG. 7 in block-diagram fashion.Microcontroller 536 is coupled to relay 540 via control signal 544, iscoupled to potentiometer 542 via control signal 546, and is coupled toproximity sensor 538 via input signal 548.

Proximity sensor 538 detects the passing of pendulum system 56 bycasting a beam of light 550 onto a pair of reflective disks 552 and 554which are mounted to the bottom of swinging chamber 56. As each ofreflective disks 552 and 554 passes by proximity to proximity sensor538, beam of light 550 is reflected off of reflective disk 552 or 554and is received by proximity sensor 538. Proximity sensor 538 generatesa pulse on signal 548 when it receives the reflection of beam 550 (thatis, when one of reflective disks 552 or 554 passes nearby).Microcontroller 536 detects the pulses on signal 548 and calculates thetime interval between these pulses. From this time interval and theknown separation of disk 552 and 554, microcontroller 536 calculates thespeed of chamber assembly 56. Proximity indicator 538 should be locatednear the "at rest" position of pendulum system 50. Disks 552 and 554should be mounted on chamber assembly 56 close enough together so thatmicrocontroller 536 can distinguish between consecutive pulses generatedduring the same half-cycle swing of pendulum system 50, on one hand, andthe trailing and leading pulses from two consecutive half-cycles on theother hand.

Relay 540 and potentiometer 542 are coupled in series between one of theleads of power supply 526 and line 543. Line 543 splits at node 545 tofeed relays 510 and 512. As described above, when relay 510 is actuated,it closes the circuit between solenoid 66 and power supply 526 via lines528 and 543. When relay 512 is actuated, it closes the circuit betweensolenoid 68 and power supply 526 via lines 530 and 543.

Microcontroller 536 can control the amount of current delivered tosolenoids 66 and 68 by adjusting potentiometer 542 via control signal546. During the start-up sequence described above, potentiometer 542 isleft in a fixed setting.

Microcontroller 536 can also control the timing of when current isprovided to solenoids 66 and 68. This is accomplished by controllingrelay 540 via signal 544. As explained above, relay 540 is coupled inseries between power supply 526 and feed line 543. Thus, when relay 540is open, current cannot flow to either solenoid 66 or 68 (regardless ofwhether relays 510 and 512 are closed). Thus, by selectively actuatingrelay 540, microcontroller 536 can control the timing of when currentwill be provided.

During the start-up phase shown in FIGS. 1-4, the optimal time forlaunching ball mass 70 is just as chamber 50 reaches its zenith.Directional sensor 500 detects when pendulum system 50 has reaches itszenith by sensing the change in direction of the swing in the mannerdescribed above. Directional sensor 500 causes one of relays 510 or 512to be closed thus energizing the appropriate one of solenoid 66 or 68 tolaunch ball mass 70. (During the start-up sequence, relay 540 is left inits closed position and potentiometer 542 is left in a fixed position.)In the soft-landing sequence, the optimal time for launching ball mass70 is launched as pendulum system 50 has begun its downward trajectorytoward its lowermost "at-rest" position. A key difference between thestart-up sequence and the soft-landing sequence is that the speed andtiming at which ball mass 70 is launched depends on the speed of thechamber 56. As explained above, the velocity of ball mass 70 uponlanding should be roughly equal to that of chamber 56. Thus, the greaterthe velocity of chamber 56, the greater the push that solenoid 66 and 68should impart to ball mass 70 on launching. Also, launch does not occurimmediately after the zenith is attained, but rather is delayed toprovide optimal timing.

To adjust launch speed, microcontroller 536 detects the velocity ofchamber 56 as it passes the "at rest" position using speed indicator538. It then calculates the appropriate velocity for the next launchingof ball mass 70 and controls this launch velocity by adjustingpotentiometer 540 via line 544. This calculation can be based onempirical data or computed analytically based on equations describingthe harmonic motion of chamber 56. Given a maximum pendulum velocity,one can calculate the pendulum's zenith and the time at which the zenithwill be reacted.

For example, referring to FIG. 5, it will be seen that ball mass 70 islaunched between t₄ and t₅. The speed at which ball mass 70 is launcheddepends on the amount of current fed to solenoid 66 via lines 528 and532. As explained above, this current is adjustable by potentiometer 540which is in turn controlled by microcontroller 536. The exactcalibration of microcontroller 536 and potentiometer 540 must bedetermined empirically depending on the specific implementation of theinvention that is being developed.

To adjust launch timing, microcontroller 536 leaves relay 540 open (viacontrol signal 545) until the desired launch time (in FIG. 5, thisdesired launch time occurs between times t₄ and t₅). When relay 540 isclosed, launch occurs. (Note that direction sensor 500 has alreadyselected the proper one of solenoids 66 and 68 to be energized whenrelay 540 is closed.) The appropriate delay may be derived analyticallyfor a given implementation of the invention based on the launch speed ofball mass 70. The timing of the launch is selected so that, for a givenlaunch speed, ball mass 70 arrives at the "at-rest" position at or nearthe same time as that one of solenoids 66 or 68 with which it isintended to collide.

During the hard-landing sequence described in FIGS. 6A through 6C adifferent approach is used. Referring to FIGS. 6B and 6C, it will berecalled that ball mass 70 is launched from solenoid 66 as chamber 56approaches its rightmost zenith. When chamber 56 reaches its rightmostzenith, ball mass 70 is a free body moving through interior 60 ofchamber 56. Ball mass 70 collides with solenoid 68 at t₁₀ as chamber 56is moving downward toward its "at rest" position. Thus, ball mass 70should be launched from solenoid 66 at a time and at a velocity so thatit strikes solenoid 68 after chamber 56 has reached its rightmostzenith. In this manner, ball mass 70 and chamber 56 are moving inopposite directions at the time of collision (hence the name "hardlanding" sequence).

To achieve proper launch timing and velocity, microcontroller 536determines the velocity of chamber 56 as it passes through the "at rest"position using proximity sensor 538 as discussed above. Relay 540 isheld in its open position at this time to prevent current from reachingsolenoid 66. By determining the velocity of chamber 56 as it passes the"at rest" position, one can calculate the position and arrival time ofthe upcoming zenith. Ball mass 70 must be launched at a point in timeand at a velocity so that chamber 56 has time to reach its zenith beforecolliding again with ball mass 70.

Ideally, ball mass 70 is launched at full power during the hard landingsequence, so no adjustment to potentiometer 542 is required (that is,potentiometer is left in its maximum current position). Microcontroller536 need only calculate the desired launch time as a function of speedof pendulum 50 at the "at rest" point. As explained above, the launchtime is selected so that pendulum system 50 will reach and pass itszenith while ball mass 70 is a free-body. Depending on the specificimplementation of the invention, some empirical calibration of launchspeed and timing may be necessary.

B. Oscillating Column System

Configuration

An application of the transduction principles detailed above is shown byan oscillating column system "OCS" 80 illustrated in FIGS. 8-9.Referring to FIG. 8 it will be seen that OCS 80 includes a flexiblestalk 82 extending vertically upward from a base 84. Base 84 is mountedon a foundation 86 which may be a building or the earth. Stalk 82includes an upper end 88 from which extends a horizontal mounting finger90 as most clearly seen in FIGS. 9 and 10. A chamber system 92 issuspended by a strap 94 from finger 90. Chamber 92 is substantiallyidentical to chamber 56 described in connection with FIGS. 1-4.Referring to FIG. 10, it will be seen that chamber 92 includes a roof 96to which strap 94 is mounted. Ends of strap 94 are mounted to roof 96 atpoints 98 and 100, which are spaced apart by a distance of approximatelyhalf of the overall length of strap 94. In suspending chamber 92 fromfinger 90, cable 94 is draped over finger 90. It will be appreciatedunder this arrangement, chamber 56 tends to remain level. This levelingeffect is enhanced by providing ballast 102 at the bottom of chamber 92.

Start Up Sequence

Referring to FIG. 8, chamber 92 includes an interior portion 104 definedby two opposing left and right bulwarks 106 and 108 respectively.Mounted to bulwark 106 is a left solenoid 110 similar in construction tosolenoids 66 and 68 discussed above in connection with FIGS. 1-4.Mounted to bulwark 108 is a right solenoid 112, which is similar inconstruction to solenoid 110. A ball mass 114 is resident in interior104 and is shuttled back and forth between solenoids 110 and 112 asdescribed below.

Referring to FIG. 11, the resiliency of stalk 82 is illustrated. If thetip of 88 of stalk 82 is bent (for example, by the wind or other loads),stalk 82 imposes a force tending to move tip 88 towards its vertical or"at rest" position shown in FIG. 8 in the direction suggested by thearrow H of FIG. 11. This resiliency makes OCS 80 capable of oscillatingin the manner of an upside down pendulum, with the structural resiliencyof stalk 82 providing the same type of ancillary force as gravityprovides in the pendulum system of FIGS. 1-4.

By shuttling ball mass 114 between solenoids 110 and 112, the upper tip88 of stalk 82 can be made to oscillate back and forth in pendulum-typefashion. At the same time, if tip 88 is oscillating, the shuttling ofball mass 114 in accordance with the hard landing slowdown sequencedescribed above (in connection with FIGS. 1-4) may be used to stoposcillation of tip 88.

Referring again to FIG. 8, the startup sequence begins with OCS 80 inits "at rest" position wherein stalk 82 is vertical, and ball mass 114is resting in solenoid 110, as shown. At this time, solenoid 110launches ball mass 114 through interior 104 toward solenoid 112. Thislaunch results in an action-reaction force interchange, which pusheschamber 92 leftward and ball mass 114 rightward, as shown in FIG. 12.The "at-rest" position of OCS 80 is shown in phantom lines in FIG. 12.For clarity, stalk 82 is shown as an idealized line in FIGS. 12-14. Thisinitial movement can be thought of as a "seed pulse" caused by shiftingthe center of gravity of chamber 92 when ball mass 114 is shuttled toright solenoid 112. As with pendulum system 50, one can build or dampenoscillation of OCS 80 by continued shuttling of ball mass 114 inaccordance with the invention.

After the initial seed pulses the resiliency of stalk 82 imposes arightward force on chamber 92, which checks its leftward velocity andbrings chamber 92 back towards the initial "at rest" position.

The velocity of chamber 92 carries it past the "at rest" position towardits rightmost zenith as shown in FIG. 13. As OCS 80 approaches itsrightmost zenith, ball mass 114 is launched from solenoid 108 acrossinterior 104 toward solenoid 110 (as shown in FIG. 13). This launchresults in an action-reaction force interchange which pushes chamber 92farther rightward. A dotted line in FIG. 13 illustrates the rightmostzenith that OCS 80 would have achieved but for the second launch of ballmass 114. The shuttling of ball mass 114 between solenoid 108 and 110increases the oscillation of OCS 80. The shuttling has addedconstructively to the oscillation energy by timing the launchings ofball mass 114 in the same manner described above in connection with thependulum system of FIGS. 1-4.

To maximize the momentum gain, ball mass 114 should be launched fromleft solenoid 108 as chamber 92 approaches its leftmost zenith, and thespeed and trajectory of ball mass 114 should be chosen so that ball mass114 ideally collides with solenoid 110 after chamber 92 has crossed itszenith and is returning to its "at rest" position. Similarly, ball mass114 should be launched from right solenoid 112 as chamber 92 reaches itsrightmost zenith, and should ideally have a speed and trajectoryselected to provide a collision with solenoid 110 which occurs aschamber 92 is returning to its "at rest" position.

Hard-Landing Slow Down Sequence

As a practical matter, chamber 92 will not typically be used to startoscillation of OCS 80, but rather will be used to stop undesirableoscillation. Referring to FIGS. 14A-14C, the shuttling of ball mass 114between solenoids 110 and 112 may be used to effect a "hard-landing"slowdown sequence wherein the oscillation of OCS 80 is brought to aquick halt. FIG. 14A is a time-lapsed view of this sequence at aninitial state and a subsequent time t₁. Initially, chamber 92 is at itsleftmost zenith (shown in phantom lines), and ball mass 114 resides insolenoid 110. The resiliency of stalk 82 imposes a leftward force onchamber 92 casting it upward and rightward in the direction of arrow Htoward and past the "at rest" position. At time t₁, chamber 92 hascrossed the "at rest" position and has attained its maximum velocity asshown in FIG. 14A. The resiliency of stalk 82 is at this time imposing adecelerating force on chamber 92 in the opposite direction of arrow H.

At time t₁, ball mass 114 is launched from solenoid 110 towards solenoid112. This launching results in an action-reaction force interchange thatmoves ball mass 114 rightward and imposes a leftward force on chamber92. This leftward force supplements the decelerating force imposed bystalk 82.

Referring to FIG. 14B, chamber 92 continues its rightward trajectoryuntil it reaches it rightmost zenith at time t₂. This zenith is short ofthe zenith that chamber 92 would have obtained but for the reduction invelocity caused by the launching of ball mass 114 at time t₁. At timet₂, ball mass 114 is still a free body moving through the interior 104of chamber 92 toward right solenoid 112, as shown in FIG. 14B. Theposition of chamber 92 at time t₁ is shown in phantom lines in FIG. 14B.

Referring to FIG. 14C, at time t₃, chamber 92 is returning leftward inthe direction of arrow I toward its "at-rest" position and isaccelerating under the influence of the resilient force of stalk 82.(The position of chamber 92 at time, t₂ is shown in phantom lines inFIG. 14C.) At time t₃, ball mass 114 collides with solenoid 112 as shownin FIG. 14C. This collision is a "hard-landing" because ball mass 114and solenoid 112 are moving in opposite directions, resulting in anaction-reaction force interchange which brings ball mass 114 to rest onsolenoid 112 and imparts a hard rightward force on chamber 92 thatcancels some of its leftward velocity. This hard-landing sequence can berepeated each half cycle of OCS 80, resulting in a quick deceleration ofchamber 92.

With the hard-landing sequence, ball mass 114 should ideally be launchedafter chamber 92 has passed through its "at rest" position and is movingagainst the influence of the resilient force of stalk 82. The launchingof ball mass 114 should be timed so that chamber 92 reaches and passesits left (or right) zenith while ball mass 114 is still a free-fallingbody moving through the interior 104 of chamber 92. This timingrelationship ensures that ball mass 114 will be moving in the oppositedirection as chamber 92 when it collides with solenoid 110 (or 112), asthe case may be.

Control Circuit

Referring to FIG. 15, a control circuit 556 is shown for controlling theoperation of OCS 80 during the hard-landing slow down sequence describedabove. Control circuit 556 includes a microcontroller of 558 and anaccelerometer 560, and two relays 562 and 564 for selectively coupling apower supply 566 to either solenoid 110 or 112. The illustration of FIG.15 is a hybrid drawing of mechanical, electrical and digital elements.The digital elements are shown in block-diagram format.

Microcontroller 558 controls relays 562 and 564 via a control signal 568which is coupled directly to relay 564 and via an inverter 570 to relay562. Relay 562 couples power supply 566 to solenoid 110 via line 572.Relay 564 couples power supply 566 to solenoid 512 via line 574.Solenoids 110 and 112 are also coupled to power supply 566 via lines 576and 578, respectively, as shown in FIG. 15.

Depending on the value of signal 568, either one or the other (but notboth) of relays 562 or 564 will be actuated to close the circuit betweenpower supply 566 and a selected one of solenoids 110 and 112. Forexample, if microcontroller 558 sets the output of signal 568 from"zero" to "one," the corresponding input of relay 564 will go from"zero" to "one" and the corresponding input of relay 562 will go from"one" to "zero" (because signal 568 is inverted by inverter 570 beforereaching relay 562).

The transition from low to high on control signal 568 causes relay 564to actuate, closing the circuit between power supply 566 and solenoid112 (via line 574). When solenoid 112 receives power, it is actuated toextend its respective finger and launch ball mass 114. Thus,microcontroller 558 can selectively actuate solenoid 110 or 112 bytoggling control signal 588 from low-to-high or from high-to-low.

Accelerometer 560 determines the acceleration of OCS 80 as it sways leftand right and repeatedly transmits that information to microcontroller558 via a sensor signal 580. Microcontroller uses data received fromaccelerometer 560 to determine when to fire solenoids 110 and 112.

Referring to FIG. 14A, it will be recalled that in connection to thehard landing sequence ball mass 114 is fired from solenoid 110 afterchamber 92 passed the "at rest" point and was moving against theresilient force of stalk 82 toward its rightmost zenith. The launchingof ball mass 114 is ideally timed so that ball mass 114 collides withthe opposite solenoid 112 after chamber 92 has received its right zenithand is returning toward the "at rest" point as shown in FIG. 14C.Microcontroller 558 determines the appropriate time to toggle controlsignal 568 to launch ball mass 114 by tracking the data provided byaccelerometer 560. When chamber 92 crosses the "at rest" position,accelerometer 560 registers a change from acceleration to deceleration.Microcontroller 558 then sums and averages the accelerations from thatpoint forward to determine chamber's 92 location and speed. Using thislocation and speed data, microcontroller 558 calculates the appropriatetime for firing ball mass 114. Depending on specific implementation ofthe invention, the relationship between speed, position and firing timeshould be calibrated empirically.

Applications

Referring to FIG. 16, a guyless tower 118 is illustrated as onepractical application of the oscillating column system described above.Tower 118 includes a base 120 and tip 122. Base 120 is firmly mounted toand extends up from a foundation 124 which in this case is the earth.

Tower 118 may serve as a radio tower, building or other tall structure.Because tower 118 is subject to loads such as wind, it tends to sway assuggested by dotted lines 126 and 128 of FIG. 16. This sway causes tip122 to oscillate back and forth much in the same manner as tip 88 of OCS80 described in FIGS. 8-13 above. Mounted at tip 122 is a chamber system130 which functions in the same manner chamber system 92 describedabove. Using a hard-landing slowdown sequence as described in FIGS.14A-14C, the oscillating swaying motion of tip 122 can be suppressed.

Referring to FIG. 17, a very tall guyless tower 132 is shown. Tower 132includes an elongated shaft 134 having a lower end 136 and an upper end138. Lower end 136 is grounded firmly on a foundation 140 which in thiscase is the earth. Shaft 134, and in particular its tip 138 is subjectto oscillating swaying motion under the influence of wind and otherloads. To control this oscillation, a plurality of spaced apart units142a-142e are provided along the longitudinal extent of shaft 134. Eachof units 142a-142e is constructed in the same manner as chamber 92 andmay be mounted to shaft 134 by a mounting finger such as mounting finger90 described above. Each of units 142 is subject to an oscillatingmotion as shaft 134 sways. Using the hard-landing slowdown sequencedescribed above, each unit 142 can be used to dampen oscillation ofshaft 134 along its longitudinal extent. By using multiple units 142, itis possible to more effectively suppress oscillatory movement of shaft134.

Referring to FIG. 18, a space station 144 is shown illustrating a secondpractical application of OCS 80 described above. Space station 144includes a plurality of elongated members 146. (Not every member 146shown in FIG. 18 is indicated by a reference number). Members 146 arejoined together in a suitable fashion to form an overall superstructure,which for purposes of illustration is shown here as a series of cubicelements forming a box-like structure. Because of the immensity of spacestation 144, each of members 146 tends to be very long, thin, andsubject to oscillation. Unless these oscillations are dampened, thestructural integrity of space station 144 is jeopardized. In accordancewith the invention, a plurality of units 148 may be located alongselected ones of members 146. Each of units 148 operates substantiallyin the same manner as chamber 92 described above in connection withFIGS. 8-13. In this manner, oscillation or swaying of elongated members146 may be suppressed by the units 148 using the hard-landing slowdownsequence described above.

C. Rotating System

Configuration

Referring to FIGS. 19 (front elevation) and 20 (top plan view) arotating system (or "driver") 150 and accompanying drive motor 152 inaccordance with the invention are illustrated. System 150 includes anactuator 154 mounted for rotation on top of drive motor 152, a pair ofhorizontal arms 156 and 158 extending radially and 180 degrees apartfrom actuator 154 (see FIG. 19), and a chamber assembly 162 connected tothe distal end of arm 156.

Motor 152 is securely mounted to a large primary mass 164, which in thiscase is a spacecraft orbiting the earth. Motor 152 includes a driveshaft 166 which extends perpendicular to the longitudinal extent of arms156 and 158, and which is mounted to a bearing 168. Drive shaft 166 andbearing 168 rotate about a common axis 169. (Shown as a dotted line inFIG. 19.) Bearing 168 provides a circular platform that lies in a planeperpendicular to the longitudinal extent of drive shaft 166, and isconcentrically aligned with axis 169. Actuator 154 is secured to theplanar face of the bearing 168. Bearing 168 can be selectively coupledand decoupled from drive shaft 166 to allow actuator 154 (and arms 156and 158) to spin about axis 169 in a free-wheeling mode. For clarity,drive motor 152, drive shaft 166 and bearing 168 are not shown in FIG.20.

Actuator 154 includes a housing 171 in which a stepper motor 172 andtransmission box 173 coupled to stepper motor 172 are mounted. Arms 156and 158 include left and right threaded shafts 174 and 176 and supportfins 178 and 180, respectively. Fins 178 and 180 are mounted to housing171. Longitudinal ends of shafts 174 and 176 are drivingly engaged tostepper motor 172 via transmission box 173, which includes internalgearing (not shown) to drive both shafts 174 and 176 in the samedirection as stepper motor 172 rotates. Shafts 174 and 176 are radiallyextending with respect to the axis 169. Depending from the distal tipsof fins 178 and 180 are mounts 182 and 184, respectively. Thelongitudinal ends 186 and 188 of shafts 174 and 178 rotatably receivedby mounts 182 and 184, respectively.

Mounted on shaft 174 is a carriage 190, and mounted on shaft 176 is acarriage 192. Carriages 190 and 192 include right- and left-threadedbore portions 194 and 196, respectively. Shafts 174 and 176 have acomplimentary threads and are received by threaded bore portions 194 and196, respectively. Thus, the rotation of shafts 174 and 176 by steppermotor 172 causes carriages 190 and 192 to be selectively retracted andextended relative to actuator 154. Notably, stepper motor 172 drivesshafts 174 and 176 in the same direction. However, carriage 190 andshaft 174 are right-threaded, while carriage 192 and shaft 176 areleft-threaded. Thus, the actuation of stepper motor 172 in a givendirection causes carriages 190 and 192 to move selectively either towardor away from each other, thereby driving carriages 190 and 192 closer orfarther from actuator 154 as desired.

Chamber assembly 162 is mounted to carriage 190 via a rotatable coupling198. Coupling 198 allows chamber assembly 162 to spin freely about theaxis indicated by dotted line 200. Note that chamber assembly 162 hasbeen rotated ninety degrees between FIGS. 19 and 20 for more clearillustration. Chamber assembly 162 includes a left solenoid 202 andright solenoid 204, along with a metallic ball mass 206 which isshuttled between solenoid 202 and 204 in the same manner as describedabove in connection with chamber 56 of the pendulum system 50 in FIGS.1-4. Solenoid 202 is magnetized to hold ball mass 206 in place when ballmass 206 is resting on push plate 212.

Chamber assembly 162 includes a box-like housing 208 in which solenoids202 and 204 reside. For clarity, the side walls of housing 208 are shownremoved to reveal the interior of chamber assembly 162. Solenoid 202includes a retractable finger 210 and a pushplate 212 (See FIG. 20)mounted to retractable finger 210 for impact contact with ball mass 206.Finger 210 is mounted within a frame 214 for reciprocatingback-and-forth movement in the same manner as finger 76 of FIG. 1A.Finger 210 is spring-biased in its retracted position. A conventionalelectromagnetic assembly with frame 214 applies magnetic force inresponse to a control signal (described below) that sufficient toovercome the spring bias and thrust finger 210 outward. As seen in FIG.20, solenoid 204 has its own pushplate 212' and finger 214'corresponding and comparable to pushplate 212 and finger 214.

As will be seen below, when ball mass 206 is resting on pushplate 212,the outward thrusting of finger 210 is sufficient to launch ball mass206 toward solenoid 204. It will be noted that solenoids 202 and 204 arespaced apart on opposite sides of chamber assembly 162. The constructionof solenoid 204 is substantially identical as that of solenoid 202.

As shown in FIG. 19, chamber assembly 162 includes a floor 220. Floor220 may include a deep groove 221 (illustrated by dashed lines) sized toaccommodate ball mass 206 and which can span between solenoid 202 and204 to provide a track for guiding ball mass 206 as it travels fromsolenoid 202 to solenoid 204.

Referring to FIG. 19, a counterweight 222 depends from floor 220 ofchamber assembly 162 directly beneath solenoid 202. A mounting fin 224depends from chamber assembly directly beneath solenoid 204. Mountingfin 224 tapers to a lowermost point 226 where a motor 228 is mounted.Motor 228 is positioned so that its drive shaft 230 is horizontal andparallel to the groove track 220 (and also perpendicular to the axis ofrotation 169). A flywheel 232 is mounted to drive shaft 230 so that thecombination of motor 228 and flywheel 232 operate as a gyroscope. Whenmotor 228 spins flywheel 232, the resulting gyroscope forms a stabilizertending to keep chamber assembly in a constant orientation.Counterweight 222 offsets the weight of motor 228 and flywheel 232.

A counterweight 234 is attached to carriage 192 and provides a balanceto offset the weight of carriage assembly 162.

Operation

The operation of rotating assembly 150 is illustrated in idealizeddrawings of FIGS. 21 through 23. Referring to FIG. 21, the operationbegins with motor 152 rotating drive 154 about axis 169 in the directionof arrow J. It will be recalled that motor 152 is connected to actuator154 via bearing 168 and drive shaft 166 as shown on FIG. 19. Thisrotation spins actuator arms 156 and 158 (which are attached to actuator154 via housing 171) about axis 169. Accordingly, chamber assembly 162travels over a generally circuitous path 236.

As motor 152 accelerates system 150, arms 156 and 158 remain stationeryso that chamber assembly 162 remains at a fixed radial distance fromaxis 169. As a result of accelerating system 150 in the direction ofarrow J, motor 152 also imparts a rotational motion on primary mass 164in the direction of arrow K. Once actuator has been accelerated to themaximum rotational velocity sustainable by motor 152, bearing 168 isdisengaged from drive shaft 168 to allow system 150 to rotate over in afree-wheeling mode. In this free-wheeling mode, actuator 154 and primarymass 164 coast (in a rotational sense). However, because mass 164 is amuch larger than system 150 (such as a spacecraft or satellite), itsrotation is much slower relative to the rotation of system 150.

A similar acceleration process is used in conventional systems, wherethe force interchange between a motor and a spinning secondary mass(such as 152 and actuator 154) can be used to provide some control overthe rotation of a spacecraft (such as primary mass 164). The difficultyin conventional systems is that once spinning secondary mass has reachedits maximum rate of rotation, it can no longer be used to continue toincrease the rotational velocity of primary mass. Further rotationalacceleration of the spacecraft requires that the spinning mass besomehow decelerated without imposing an impulse on the spacecraft. Untilthe present invention, the only way to accomplish this would have beenthrough retro-rockets or other expulsive propulsion systems.

In accordance with the invention, rotating system 150 is decoupled fromdrive motor 152 and mass 164, and is decelerated in a manner that doesnot impose an impulse on primary mass 164 or require the use of retrorockets. Once actuator is successfully decelerated, it is reengaged toprimary mass 164 (via drive shaft 166), and reaccelerated by means ofmotor 152. This reacceleration again imposes an impulse on primary mass164 that is cumulative with the impulse imposed during the firstmotor-driven acceleration described above. By repeating this process ofcouple/accelerate--decouple/decelerate, the rotational momentum ofprimary mass 164 may be increased without resorting to the use ofretrorockets or other expulsive propulsion systems.

Generally speaking, the deceleration of system 150 in accordance withthe invention is accomplished by shuttling ball mass 206 betweensolenoids 202 and 204 in a manner similar to that described above inconnection with FIGS. 1-4. This deceleration process is described inFIGS. 21-23. For clarity, the illustrations of FIGS. 21-23 are idealizeddiagrams of the system illustrated in FIGS. 19 and 20.

Referring first to FIG. 21, it will be seen that as actuator 154 rotatesin its free-wheeling mode, stepper motor 172 is activated to selectivelyextend and retract carriages 190 and 192 via shafts 174 and 176,respectively. This retraction-extension cycle occurs once every 180degrees of rotation of actuator 154, and is shown by dotted path 236.

Assuming dotted line 238 of FIG. 21 to be zero degrees of rotation,chamber assembly 162 would be at a point 240 when actuator 154 isorientated at zero degrees. At this point, carriage 190 is fullyretracted and located near 241 (see FIG. 21). Carriage 190 remains inthis fully retracted position as actuator 154 rotates through the first30 degrees of rotation, bringing chamber assembly 162 to a point 242.

When chamber assembly 162 is at point 242, stepper motor 172 isactivated to begin extending carriages 190 and 192. Carriage 190 isextended as actuator 154 continues to spin through another 30 degreesuntil chamber assembly 162 reaches a point 246. It will be noted thatthe path of travel by chamber assembly 162 between points 240 and 242 isthe arc of a simple circle. The path traveled between points 242 and 246however, is parabolic because of the extension of carriage 190, whichplaces chamber assembly 162 at a longer radius from actuator 154 assystem 150 spins.

As chamber assembly 162 passes point 246, carriage 190 is fully extendedtoward distal end 186 of shaft 174. From this point onward, carriage 190is held stationary so that as actuator 154 spins, chamber assembly 162again travels through the arc of a simple circle. It will be appreciatedthat the rotation of actuator 154 decreases in velocity between points242 and 246 as the radial distance between chamber assembly 162 andactuator 154 increases.

Actuator 154 continues rotating past point 246 through anotherapproximately 45 degrees of rotation until chamber assembly 162 reachespoint 248. At this point, ball mass 206 resides on solenoid 204, asshown in FIG. 21. To reduce the rotational momentum of the spinningsystem, ball mass 206 is launched from solenoid 202 toward solenoid 204just as chamber assembly 162 passes point 248. This launching causes amomentum-decreasing force interchange much like the soft landingsequence described above in connection with pendulum system 50 of FIG.1.

Referring to FIG. 22 when chamber assembly 162 is at point 248, solenoid204 is actuated to extend finger 210 and launch ball mass 206 offpushplate 212 and toward solenoid 202. This launch is an action-reactionforce interchange that pushes chamber assembly 162 (and all of rotatingsystem 150) in the opposite direction as the trajectory of ball mass206. In this case, a vectored component of this force will be in adirection opposite the tangential velocity of chamber assembly 162 as itrotates in direction of arrow J. This component reduces the rotationalvelocity of chamber assembly 162, thereby reducing the rotationalmomentum of rotating system 150.

At the same time as ball mass 206 is launched from solenoid 204, steppermotor 172 is actuated to begin retracting carriages 190 and 192 backtoward actuator 154. This retraction takes place as actuator 154 spinsthrough another 30 degrees to place chamber assembly 162 at point 250(See FIGS. 21 and 23). During this portion of the rotation (betweenpoints 248 and 250), chamber assembly 162 is drawn closer to actuator154 by retracting carriage 190. Consequently, chamber assembly 162travels along a parabolic path between points 248 and 250.

As chamber assembly 162 moves between points 248 and 250, the rotationalvelocity of system 150 increases in much the same way as a spinning iceskater's rotation is accelerated when he or she draws his or her arms intowards the body. It will be appreciated that during this same time,ball mass 206 is moving substantially as a free body on a trajectorybetween solenoid 204 and 202. When mass 206 was launched from solenoid204 at point 248 (See FIGS. 22 and 23), its speed exceeded that ofchamber assembly 164. However, as the rotational velocity of system 150increases, so does the tangential velocity of chamber assembly 164,until the tangential velocity of the chamber assembly 164 approachesthat of ball mass 206.

Ideally, ball mass 206 collides with solenoid 204 as chamber assembly162 passes point 252 (see FIGS. 21 and 23), where chamber assembly's 162velocity has peaked. Because the velocity of chamber 162 (and,naturally, solenoid 204) have increased to nearly the same velocity asball mass 206, the resulting collision is a "soft-landing" comparable tothat described above in connection with pendulum system 50 of FIG. 1.Consequently, there is no (or at least rather small) action-reactionforce interchange between ball mass 206 and chamber assembly 162 uponlanding, and therefore no (or little) change in rotating system's 150momentum to offset the momentum-dampening effects of the launch of ballmass 206 from solenoid 204.

The net result of launching ball mass 206 from solenoid 204 at point 248and the collision of ball mass on solenoid 202 at point 252 is thatrotating system 150 has lost momentum without imparting a pulse onprimary mass 164 or resorting to retrorockets. In practice, some pulsewill be applied to primary mass 164 due to the effects of friction inthe coupling of drive shaft 166 and bearing 168.

As chamber assembly 162 passes point 250, carriage 190 is held in afixed position so that chamber assembly 162 again travels along the arcof a simple circle until it arrives at point 252. This cycle ofextension-retraction and launch-collision that takes place during 180degrees of rotation between points 240 and 252 can be repeated asactuator 154 rotates through another 180 degrees of rotation betweenpoints 252 and 240. During that half-cycle, ball mass 206 will belaunched from solenoid 202 to collide with solenoid 204.

Referring to FIGS. 24 and 25, the foregoing operation is illustrated inthe top plan view. FIG. 24 shows system 150 in the same configuration asthe diagram of FIG. 21. In particular, chamber assembly 162 is justpassing points 248 prior to launching ball 206 from solenoid 204 towardsolenoid 202. FIG. 25 illustrates system 150 in the same configurationas FIG. 23. Note that in FIG. 25 chamber assembly 162 is at point 252along path 236. Ball mass 206 has just landed on solenoid 202, andcarriage 190 is in its fully retracted position.

Application

The deceleration process can be repeated, and the cumulative pulsesapplied by each cycle will reduce the momentum and rotational velocityof system 150. When system 150 is sufficiently decelerated, it can berecoupled to primary mass 164 via drive shaft 166, and reacceleratedusing motor 152. As explained above, the action-reaction forceinterchange that occurs when drive motor 152 accelerates system 150causes primary mass 164 to rotate in the direction of arrow K. Ineffect, the invention is used to "wind-up" the rotation of primary mass164.

For example, it would be possible, using the system described above, toset a giant space station into rotation. Each acceleration-decelerationcycle of rotating assembly 150 cumulatively adds to the rotation of thespace station (represented here as primary mass 164) until that stationhas achieved the desired rotational velocity.

Theoretically, the invention could be used to change the rotationalvelocity of an asteroid, moon or planet by placing a massive system likesystem 150 at the pole of the asteroid, moon or planet. Since themomentum transfer is achieved by kinetic exchanges of a mass (i.e., ballmass 206) internal to system 150, the invention avoids or reduces theneed for expulsive propulsion systems (such as retrorockets). Thisresults in substantial savings because it is extremely expensive to ahaul expulsive rocket fuel up into space.

Optimization

There are a number of ways in which the rotational system describedabove may be optimized. First, a second chamber system can be added asshown in FIGS. 26-27. Referring to FIG. 26, a diagram of system 150' isshown having a chamber assembly 162' in addition to chamber 162. Chamberassembly 162' is substituted for counter balance 234 depicted in FIG.19. Chamber assembly 162' includes solenoid 202', solenoid 204' and ballmass 206'. It operates like (although in the mirror image of) chamberassembly 162 described above. FIG. 26 shows system 150' in the sameconfiguration as system 150 depicted in FIG. 22. Notably, ball mass 206'is launched from solenoid 202' toward solenoid 204' at the same time asball mass 206 is launched from solenoid 204 toward solenoid 202.

It will be appreciated that upon the launch and impact, ball masses 206and 206' do not travel along the same tangential path as theirrespective chamber assemblies 162 and 162'. Thus, both the launch andthe impact velocities of ball masses 206 and 206' will have vectors withcomponents that are tangential and radial relative to the rotation aboutaxis 169.

It will be appreciated that the tangential component of ball mass' 206'velocity is additive in effect with the tangential component of ballmass' 206 velocity, yet the respective radial components of each ball'svelocities cancel each other out. This occurs for the simple reason thatradially extending arms 156 and 158 are 180 degrees apart.

Thus, by using a second chamber assembly on arm 158, additionalmomentum-dampening is achieved by doubling the tangential components offorce vectors while at the same time canceling out the undesirableradial components.

A second way to optimize the system is to control the trajectories ofball mass 206 and chamber assembly 162 so that ball mass 206 collideswith solenoid 202 exactly at point 252 and the tangential velocity ofsolenoid 202 and ball mass 206 are identical at impact.

There are four variables that can control this process:

(a) the speed and trajectory that ball mass 206 is launched fromsolenoid 202;

(b) the timing of the launch relative to the rotation of actuator 154(in this case, point 248 is selected; other launch points are possible);

(c) the rate at which actuator 154 retracts chamber system 162;

(d) and the rotational velocity of actuator 154 when free-wheeling modebegins (note that that velocity will decrease with eachextension-retraction cycle described above).

For specific implementations of the invention, these variables should beadjusted empirically to achieve best results. Even if optimum conditionsare not obtained however, it is believed that rotating system 150 canstill be decelerated in accordance with the invention so long as thetangential velocities of chamber is increased during the free-bodytrajectory of ball mass 206. The velocity matching at collusion-timedescribed above makes the system more efficient but is not strictlyrequired.

A computer-assisted simulation was used to experiment with optimizingsystem 150. To express the results of the simulations, the followingconventions are adopted: M1 is the mass of ball mass 206. M2 is the massof the chamber 164. Rc is the radius of the circular portion of the path236 at point 246 that M2 follows. Re is the distance from the center tothe chamber at point 252; this is the variable dependent on the degreeto which actuator 154 has pulled chamber 164 in. S1 is the distance(straight line) that ball mass 206 travels between points 248 and 252after it is launched. S2 is the distance (actual curved) that chamber162 travels between points 248 and 252 after launching has occurred. V1is the velocity that the chamber 164 is spinning when it is tethered ata distance Re. Vs is the velocity of separation between M1 and M2immediately after M1 has been launched. It is not the velocity of eitherM1 or M2 relative to a stationary observer. Vrm1 is the velocity,relative to a stationary observer, of M1 after it has been launched;after it has reacted with M2. Vrm2 is velocity, relative to a stationaryobserver, of M2 after it has been launched; after it has reacted withM1. tm1 is the time it takes M1 to travel from point 248 to 252. tm2 isthe time it takes M2 to travel from point 248 to 252; ideally tm2=tm1.Vram2 is the final velocity of M2 after it has been pulled in toward thecenter by the actuator; ideally, this will occur at point 252. Vm2 isthe average velocity of chamber 162 as it travels from point 248 to 252.am2 is the rate that M2 accelerates between point 248 and 252. Sm2 isthe actual distance that M2 travels before it is rejoined by M1.Ideally, this is equal to the distance from point 248 to 252.

A simulation was then under-taken of the dynamics of ball mass 206 in aspecific embodiment having the following characteristics: M1 equals 1kg; M2 equals 2 kg; Vs equals 18 cm/sec; V1 equals 25 cm/sec; Rc equals25 cm, and pushplates 212 and 212' were inclined at 15° (as describedbelow).

A simulated launch of ball mass 206 at point 248 (that is, 135 degreesclockwise from point 240) resulted in a nearly soft-landing collision ofball bass 206 and left solenoid 202 at point 252 that reduced theoverall momentum of system 150. Ball mass 206 achieved a Vrm1 of 29.267cm/sec. S1 was 22.602, S2 was 18.113 and Re was 21.274. Chamber 162began with Vrm2 equal to 22.0 cm/sec and accelerated to Vram2 equal to25.853 cm/sec.

It will be noted that Vram1 and Vrm2 (velocities of ball mass 206 andchamber 162 at collision-time) were not equal, as they ideally shouldbe. The reason is that between points 248 and 252, ball mass 206 travelsfurther than chamber 162 (that is, ball mass 206 has to travel thestraight-line distance between points 248 and 252 plus the distanceacross chamber 160). As a result, when parameters are successfullychosen to allow both ball mass 206 and chamber 162 masses to arrive atpoint 252 simultaneously, ball mass 206 has a greater velocity (that is,velocity matching was not perfectly obtained). This difference amountsto about 13%, and does cause system 150 regain some of the momentum thatwas dumped at point 248, but the gain is not significant. Overall, thereis a net momentum loss.

The following additional observations were made with respect to thisexperiment and the goal of optimizing performance of system 150:

1. The optimum location for launching ball mass 206 appeared to be point248 (that is, a point on path 236 representing 135° of rotation byactuator 152 relative to dotted-line 238).

2. The optimum M1:M2 ratio appeared to be 1:2.

3. The optimum V1:Vs ratio appeared to be 1:0.72.

4. The optimum Rc:Re ratio appeared to be 1:0.85.

5. To allow ball mass 206 to collide with left solenoid 202 at point252, it was empirically derived that solenoids 202 and 204 should beplaced at a 15° angle of inclination.

The angle of inclination referred to above means that solenoid 204should be positioned to orient finger 214' at a degree angle relative toa line that parallel to line 238 (See FIGS. 20 and 21) and intersectsthe center of ball mass 206 when it is resting on solenoid 204; in thisposition, the planar face of pushplate 212' is cocked toward actuator154 at a 15 degree angle with line 238.

Note that there are some minor differences between the drawings and theconfiguration of the experiment. Specifically, the drawings do not showthe 15 degree inclination of pushplates 212 and 212'. Also, theproportions of chamber 164 as shown in the drawings would notaccommodate this trajectory. A wider housing 208 would be required.Moreover, if an inclination were used, ball mass 206 would not be ableto follow groove 221.

Additional details of these experimental simulations are contained inthe inventor's notes entitled "Analysis of M1 and M2 Achieving aSoft-Landing" and "Analysis of Transductional Sequence (TS)", attachedas Exhibits A and B, respectively, and hereby incorporated by reference.

Control Circuit

Referring to FIG. 28, a control circuit 582 is shown for controlling therotating system 150 of FIGS. 18 through 25. For clarity, FIG. 28 is ahybrid diagram of idealized mechanical components and digital circuitelements. The circuit elements are shown in block-diagram format.Control circuit 582 includes a microcontroller 584, a optical encoder586 and a power supply 588. Suitable microcontrollers are available fromMotorola. A suitable encoder is available from BEI (Industrial EncoderDivision).

The purpose of control circuit 582 is to detect the speed and positionof rotating system 150 and to thereby control the firing of ball mass206 from either solenoid 202 or 204. Control circuit 582 also controlsthe extension and retraction of arms 156 and 158 by selectively drivingstepper motor 172 via a control signal 590.

Optical encoder 586 communicates with microcontroller 584 via a locationsignal 592. As actuator 152 rotates, encoder 586 pulses signal 592. Bycounting these pulses, microcontroller 584 can determine the rotationalvelocity of actuator 152. Also, optical encoder 586 can send a specialpulse when it reaches a reference point (for example, when actuator 152is orientated at 180 degrees as illustrated in FIG. 25). Thus, asactuator 154 rotates and causes chamber assembly 162 to traversecircuitous path 236, microcontroller 584 can determine chamberassembly's 162 location along path 236. As explained above, at certainpositions along path 236, arms 156 and 158 are retracted or extended(such as, for example, at points 240 and 246 of FIG. 21.)Microcontroller 584 can effectuate such extension and retraction byactuating stepper motor 172 using control signal 590.

Using speed and positional information, microcontroller 584 can alsoinitiate the firing of ball mass 206 from either solenoid 202 or 204.This is accomplished by a set of three controls: a power control signal594, a launch timing control signal 596 and a solenoid select signal598. Power supply 588 has two feed lines--600 and 602. A relay 604 andan electronically adjustable potentiometer 606 are serially connectedwith feed line 602 as shown in FIG. 28. Relay 604 is actuated by launchtiming control signal 594 and potentiometer 606 is digitally controlledby launch power signal 596.

Line 600 is connected in parallel to relays 608 and 610. When relay 608is actuated, a circuit is closed to energize solenoid 204 via line 612.When relay 610 is actuated, a circuit is closed via line 614 to energizesolenoid 204. Relays 608 and 610 are coupled to microcontroller 584 viathe solenoid select signal 598. Signal 598 is coupled directly to relay610 and coupled to relay 608 via a inverter 616. Thus, depending thevalue of the signal on line 598, either relay 608 or 610 (but not both)will be open, thus allowing microcontroller to selectively energizeeither one of solenoids 202 or 204.

For example, as chamber assembly 162 passes desired launch point 248,microcontroller 584 initiates the launch ball mass 206 from solenoid 204by toggling control signal 598 to actuate relay 608. As explained above,relay 608 closes provides current to solenoid 204 via line 612. Atapproximately the same time, microcontroller 584 adjust potentiometer606 to achieve the desired launch speed, and, at the moment of thedesired launch time, actuates relay 604 via control signal 594. Whenrelay 604 is actuated, the circuit between power supply 588 and solenoid204 is closed, and solenoid 204 actuates to launch ball mass 206. Itwill be realized that the force with which solenoid 204 launches ballmass 206 is related to the current received by solenoid 204 which is inturn controlled by potentiometer 606. Depending on the specificimplementation of the invention, some empirical calibration will berequired. However, the system need not reach ideal performance to have amomentum reducing effect.

D. Shuttling Systems

For teaching purposes, the invention has been illustrated showingshuttling of mass in the form of a metallic ball that is literallylaunched from one solenoid to the next. In practice, a more effectivemethod of shuttling mass may be to employ a standard linear servo motor,such as the Model LCD-T made by Anorad Corp. This mechanism has acarriage which is moved along a guide by a DC servo motor. The couplingbetween the guide and carriage is low-friction and is adapted to allowthe carriage move freely along the guide. Each motor is made up of onlytwo parts: a set of electrical coils imbedded within a coil core and aset of rare earth magnets mounted on a steel magnetic plate whichgenerate a high magnetic flux. When the motor applies a magnetic fieldto the carriage, the carriage is propelled along the guide. Once thecarriage is in motion, it can coast along the guide.

When comparing this mechanism to the ball mass depictions describedabove, the carriage is analogous to the shuttling ball mass, the linearmotor is analogous to the solenoids. Once the motor has applied a pushto the carriage, the carriage coasts along the guide in a mannercorresponding to the free-body motion of the ball mass through thechambers such as chamber 162 described above. Additional details aboutshuttling mechanisms are available in the inventor's notes entitled"Refinement of Shuttling Mechanism", attached hereto as Exhibit C andhereby incorporated by reference.

E. Linear Propulsion

It is believed that the invention may be used to achieve linearpropulsion without resorting to interactions with an external mass (suchas with a rocket or other propulsion system). Additional details areprovided in the inventor's notes entitled "Linear Transduction,"attached hereto as Exhibit D and hereby incorporated by reference.

F. Conclusion

The present invention is not limited to the embodiments disclosedherein, but also encompasses many other embodiments that, upon readingthis disclosure, may be apparent to those skilled in the art. In theevent of an inconsistency between this specification and the attachedExhibits, the description in this specification supersedes theconflicting description contained in the Exhibit.

What is claimed is:
 1. A method for reducing the momentum of anoscillating body that moves to and from at least one zenith, the methodcomprising the steps of:(a) placing a mass at a launch area connected tothe body, wherein the launch area is spaced-apart from a landing areathat is connected to the body; (b) as the body moves toward the zenith,accelerating the mass away from the launch area and toward the landingarea to impart on the body a first reactive force component in adirection opposite to that of the body's motion; and (c) allowing saidmass to reach the landing area after the body has past the zenith and ismoving away from the zenith, so that the arrival of the mass at thelanding area imparts on the body a second reactive force component in adirection opposite that of the body's motion; whereby the combination ofthe first and second reactive force components imparts a net reductionin the momentum on the body.
 2. The method of claim 1 wherein theoscillating body is a pendulum.
 3. The method of claim 2 wherein theoscillating body is a resilient member.
 4. The method of claim 1 whereinthe mass is a fluid.
 5. The method of claim 4 further comprising thestep of providing a channel between the launch area and the landingarea, wherein in the step of allowing the mass to move toward thelanding area, the fluid mass is allowed to flow through the channel. 6.The method of claim 1 wherein the mass is a solid.
 7. A method forreducing the momentum of an oscillating body whose velocity increasesand decreases in a periodic manner under the influence of an ancillaryforce, comprising the steps of:(a) placing a mass at a launch areaconnected to the body; wherein the launch area is spaced-part from alanding area connected to the body; (b) accelerating the mass relativeto the body in a direction away from the launch area and toward thelanding area, to impart on the body a first reactive force componentthat is opposite in direction to the body's velocity, thereby reducingthe body's velocity during the acceleration; (c) allowing the mass tomove toward the landing area while the body's velocity increases underthe influence of the ancillary force; (d) allowing the mass to arrive atthe landing area in a reactive exchange that imparts to the body asecond reactive force component; wherein: (i) the direction of thesecond reactive force component is opposite to the direction of thefirst reactive force component; and (ii) the magnitude of the secondreactive force component is smaller than the magnitude of the firstreactive force component; whereby the combination of the first andsecond reactive force components impart a net reduction in the momentumof the body.
 8. The method of claim 7 wherein the oscillating body is aresilient member.
 9. The method of claim 7 wherein the mass is a fluid.10. The method of claim 9 further comprising the step of providing achannel between the launch area and the landing area, wherein in thestep of allowing the mass to move toward the landing area, the fluidmass is allowed to flow through the channel.
 11. The method of claim 7wherein the mass is a solid.
 12. A method for changing the momentum of abody rotating about an axis, comprising the steps of:(a) providing achamber, the chamber being connected to the body at a first distancefrom the axis so that the chamber moves about the axis at a tangentialvelocity; (b) providing a mass at a first point connected to thechamber; wherein the first point is spaced-apart from a second pointconnected to the chamber; (c) accelerating the mass relative to thechamber in a direction away from the first point and toward the secondpoint, to impart to the body a first reactive force component to thechamber in a direction that is opposite to the chamber's tangentialvelocity; (d) while the mass moves from the first point to the secondpoint, moving the chamber (and second point connected thereto) closer tothe axis to increase the tangential velocity of the chamber; and (e)allowing the mass to arrive at the second point in a reactive exchangebetween the mass and the chamber that imparts a second force componentto the chamber in a direction that is the same as the chamber'stangential velocity, said second force having a magnitude that is lessthan the magnitude of said first force; whereby the combination of thefirst and second forces result in a net reduction of the body'srotational momentum.
 13. The method of claim 12 wherein the mass is afluid.
 14. The method of claim 13 further comprising the step ofproviding a channel between the launch area and the landing area,wherein in the step of allowing the mass to move toward the landingarea, the fluid mass is allowed to flow through the channel.
 15. Themethod of claim 12 wherein the mass is a solid.
 16. The method of claim12 further comprising the steps of:(f) coupling a spacecraft to the bodyin a manner that allows the spacecraft to rotate about the axis; (g)providing an electromagnetic drive mechanism to rotate the body relativeto the spacecraft, whereby the drive mechanism imparts rotationalmomentum to the spacecraft in one direction and rotational momentum tothe body in the opposite direction; (h) decoupling the spacecraft fromthe body so that both the spacecraft and the body may rotate relative toeach other in a free-wheeling mode about the axis.
 17. The method ofclaim 13 wherein the steps of clauses (a) through (h) are repeated toimpart additional rotational momentum to the spacecraft.
 18. The methodof claim 13 wherein the drive mechanism is an electric motor.